此項目案例介紹了6軸機器人的建模方法，在samcef平臺上通過添加控制機構可以從仿真結果中明確看出控制對機構動態特性的影響。控制器的增益可以通過BOSS Quattro中的最優化方法得到。

案例簡要介紹如下：

The development of a virtual prototype in the fully integrated SAMCEFField environment is described on the specific case of a six-axes robot. Severalvirtual prototypes are built around a Master Model, including a library ofinterchangeable components modelled with different accuracies, and arecompared. It is shown how important it is to consider flexibility in the model,especially in such specific lightweight machine tools classically subjected tohigh speeds. This flexibility is approximated either with a full finite elementmodel of the structural components, or with a mode component approach. Theselection of a correct model is discussed. Controllers are included in the flexiblemodel to impose the tip motions. A trajectory planning is investigated.

GenPurpSoft-SMecMotion_2009_01_en.pdf